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Merged
merged 2 commits into from
Mar 11, 2025
Merged

L fp #7

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4bb693e
update readme
lukestroh Mar 11, 2025
a880e16
updated Tree URDF to fix tree_id string
lukestroh Mar 11, 2025
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13 changes: 13 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -16,10 +16,23 @@ apt update -y && apt upgrade -y
apt install python3-venv -y
apt install ros-$ROS_DISTRO-ur -y
cd ~
source /opt/ros/humble/setup.bash
```


#### Installing dependencies
1. Install support packages for the pruning environment.
```
cd ~
git clone https://github.com/lukestroh/branch_detection_ws.git
cd branch_detection_ws
colcon build --symlink-install
source install/setup.bash
cd ~
```

#### Installing this package

1. Clone this repository into your local directory:
```
git clone https://github.com/OSUrobotics/pybullet-tree-sim.git
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10 changes: 5 additions & 5 deletions pybullet_tree_sim/urdf/trees/envy/macro/tree_macro.urdf.xacro
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Expand Up @@ -12,18 +12,18 @@
<xacro:property name="mass" value="8.0" />
<xacro:property name="scale" value="1 1 1"/>

<link name="${namespace}${tree_type}_tree${tree_id}">
<link name="${namespace}_${tree_type}_${str(tree_id).zfill(5)}">
<visual>
<geometry>
<mesh filename="./meshes/trees/envy/unlabeled/obj/${namespace}${tree_type}_tree${tree_id}.obj" scale="${scale}"/>
<mesh filename="./meshes/trees/envy/unlabeled/obj/${namespace}_${tree_type}_${str(tree_id).zfill(5)}.obj" scale="${scale}"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision concave="true">
<geometry>
<mesh filename="./meshes/trees/envy/unlabeled/obj/${namespace}${tree_type}_tree${tree_id}.obj" scale="${scale}"/>
<mesh filename="./meshes/trees/envy/unlabeled/obj/${namespace}_${tree_type}_${str(tree_id).zfill(5)}.obj" scale="${scale}"/>
</geometry>
</collision>
<inertial>
Expand All @@ -33,9 +33,9 @@
</inertial>
</link>
<link name="world"/>
<joint name="${namespace}${tree_type}_tree${tree_id}_joint" type="fixed">
<joint name="${namespace}_${tree_type}_${str(tree_id).zfill(5)}_joint" type="fixed">
<parent link="${parent}"/>
<child link="${namespace}${tree_type}_tree${tree_id}"/>
<child link="${namespace}_${tree_type}_${str(tree_id).zfill(5)}"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>

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1 change: 1 addition & 0 deletions pybullet_tree_sim/urdf/trees/envy/tree.urdf.xacro
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Expand Up @@ -9,6 +9,7 @@
<xacro:arg name="parent" default="world" />
<!-- <xacro:arg name="xyz" default="0.0 0.0 0.0"/>
<xacro:arg name="rpy" default="0.0 0.0 0.0"/> -->


<xacro:tree
namespace="$(arg namespace)"
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